Documentation Status

srs_public: cob_spacenav_teleop | srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_arm_navigation_msgs | srs_assisted_arm_navigation_ui | srs_assisted_detection | srs_assisted_grasping | srs_assisted_grasping_msgs | srs_assisted_grasping_ui | srs_body_detector | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_env_model_ui | srs_env_model_utils | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_training | srs_ui_but | srs_user_tests

Package Summary

Documented

ROS dynamic environment model provided by dcgm-robotics@FIT group.

srs_public: cob_spacenav_teleop | srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_arm_navigation_msgs | srs_assisted_arm_navigation_ui | srs_assisted_detection | srs_assisted_grasping | srs_assisted_grasping_msgs | srs_assisted_grasping_ui | srs_body_detector | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_env_model_ui | srs_env_model_utils | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_training | srs_ui_but | srs_user_tests

Package Summary

Documented

ROS dynamic environment model provided by dcgm-robotics@FIT group.

srs_public: cob_spacenav_teleop | srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_arm_navigation_msgs | srs_assisted_arm_navigation_ui | srs_assisted_detection | srs_assisted_grasping | srs_assisted_grasping_msgs | srs_assisted_grasping_ui | srs_body_detector | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_env_model_ui | srs_env_model_utils | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_training | srs_ui_but | srs_user_tests

Package Summary

Documented

ROS dynamic environment model provided by dcgm-robotics@FIT group.

Cannot load information on name: srs_env_model, distro: hydro, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: srs_env_model, distro: indigo, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: srs_env_model, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: srs_env_model, distro: kinetic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: srs_env_model, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Overview

This package provides a new Dynamic Environment Model server partially based on OctomapServer from the octomap_mapping stack. The model manages information about all detected, permanent, temporary and moving objects in the environment. It publishes own topics, subscribes to some of input data stream topics and it's internal state can be controlled by services. We have created some simple tutorials that walk you through basic using it.

System architecture

The Dynamic Environment Model (DEM) serves as a node containing octomap of the scene viewed by sensors and additional data types storing detected objects.

Environment model server is based on core-plugin architecture model. Whole this structure can be virtually divided into two parts - plugins connected to the octomap and independent data structures. The first part serves as a "raw data" processor. It tranforms input octomap to the different data structure. The second part of the environment server contains some "higher level" data structures, added by some detectors in general.

  • Raw data structures
    • Octo map
    • Collision map
    • Collision grid
    • Collision objects
    • 2D map
    • Marker array
    • Point cloud
  • Other data structures
    • Object tree
  • Other plugins
    • Compressed point cloud plugin
    • Example plugin
    • Limited point cloud plugin

Octo map plugin

Contains octomap data - octomap tree with own node type (octomap::EModelTreeNode). Can be subscribed to the point cloud publishing topic to fill the map. This plugin is used by some other plugins as a data source.

The octomap plugin also supports RGB colouring of the point cloud based on the data from RGB camera. Other provided functionality is octree filtering used to remove speckles and faster noise removal in the view cone.

colored_voxel_map.png

Collision map plugin

This plugin converts occupied octomap nodes to the collision map (arm_navigation_msgs::CollisionMap). Diameter can be set to limit robot collision distance (this leads to smaller data flow).

Collision grid plugin

This plugin also converts occupied octomap nodes to the other form - occupancy grid (nav_msgs::OccupancyGrid). Used tree depth, map x and y direction sizes can be set.

collision_grid.png

Collision objects plugin

It converts and publishes occupied octomap nodes to the collision objects (rm_navigation_msgs::CollisionObject).

Compressed point cloud plugin

This plugin takes robot camera position and uses it to filter currently visible part of octomap. This is converted to the point cloud form and it is sent as differential frame. The compressed_pc_publisher node can be used to combine differential frames and to publish complete octomap again (in the usuall point cloud form). This indirectness can be used to lower data flow.

2D map plugin

It converts and publishes octomap nodes to the 2D map (nav_msgs::OccupancyGrid).

Marker array plugin

It converts and publishes octomap nodes to the marker array (visualization_msgs::MarkerArray).

Point cloud plugin

It can convert incomming point cloud (sensor_msgs::PointCloud2) frame id to some other and re-publishes it.

Object tree plugin

This plugin is used to store objects detected by various perceptors. These objects are stored in octree structure and they are represented by their position and other needed parameters instead of point cloud. Objects can be visualized with srs_interaction_primitives package.

Currently plugin supports bounding boxes and planes detected by tools in the srs_env_model_percp package. All plugin functionality is provided by services.

Compressed point cloud plugin

This plugin publishes only visible part of the environment model. This cloud can be used as live sight on octomap data or can be used together with compressed point cloud publisher to transfer octomap to the other device.

Compressed point cloud publisher node

This node can be used to assembly and publish complete octomap from differential frames published by compressed point cloud plugin.

ROS API

Nodes

Node Name

Published Topics

Description

but_server_node

  • /but_env_model/binary_octomap
  • /but_env_model/pointcloud_centers
  • /but_env_model/collision_object
  • /but_env_model/markerarray_object
  • /but_env_model/map2d_object
  • /but_env_model/collision_map

Main server node.

compressed_pc_publisher

/input

Differrential frames completion and complete octomap publishing

Services

All services are published in the /but_env_model/ namespace.

Service Name

Input

Output

Description

server_reset

Reset server

server_pause

Pause server

server_use_input_color

bool

Set true (default) if input color information should be stored and used.

get_collision_map

int32 - local version stamp id

arm_navigation_msgs/CollisionMap

Get current collision map.

insert_planes

srs_env_model_msgs/PlaneArray plane_array

Add array of planes

reset_octomap

Reset only octomap data.

load_octomap

string - input file name

bool - true if all ok

Tries to load octomap file (without header) as a new env. model

load_octomap_full

string - input file name

bool - true if all ok

Tries to load octomap file (with header) as a new env. model

save_octomap

string - output file name

bool - true if all ok

Tries to store current env. model as octomap file (without header)

save_octomap_full

string - output file name

bool - true if all ok

Tries to store current env. model as octomap file (with header)

add_cube_to_octomap

geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size

Set all cells inside given box as occupied

remove_cube_from\n_octomap

geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size

Set all cells inside given box as free

lock_collision_map

bool - true if lock

Lock collision map - map will not be updated from octree. Should be called before manual modifications.

is_new_collision_map

time - time stamp of local data

bool - true if new data present, time - timestamp of new data

Service can be used to test if new collision map data is present

add_cube_to_collision_map

geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size

Set all collision maps cells inside given box as occupied

remove_cube_from\n_collision_map

geometry_msgs::Pose - cube position, geometry_msgs::Pose - cube size

Set all collision map cells inside given box as free

set_crawl_depth

uint8 - tree depth

Set tree depth used for publishing

get_tree_depth

uint16 - tree depth

Get octomap tree depth

Object tree plugin services

Services provided by Object tree plugin can be divided into two parts. The first one is common for all saved objects. Services in the other one have variants for all supported objects. All services are published in the /but_env_model/ namespace.

Service Name

Input

Output

Description

get_objects_in_box

  • geometry_msgs/Point position
  • geometry_msgs/Vector3 size

uint32[] object_ids

Returns ids of objects inside a box.

get_objects_in_halfspace

  • geometry_msgs/Point position
  • geometry_msgs/Vector3 normal

uint32[] object_ids

Returns ids of objects inside a halfspace defined by plane.

get_objects_in_sphere

  • geometry_msgs/Point position
  • float32 radius

uint32[] object_ids

Returns ids of objects inside a sphere.

remove_object

uint32 object_id

Removes object from object tree.

show_object

uint32 object_id

Shows object using a srs_interaction_primitives server.

show_objtree

Show octree structure using a Marker.

The following services are available for these object types: plane, aligned_box and bounding_box. All services are published in the /but_env_model/ namespace.

Service Name

Input

Output

Description

get_{object_type}

uint32 object_id

object_description

Gets object from object tree.

get_similar_{object_type}

object_description

uint32 object_id

Checks object tree for object similar to object in input parameter. Returns -1 if no such exists.

insert_{object_type}

object_description

uint32 object_id

Inserts object into object tree. Replaces object with same id if exists.

insert_{object_type}_by_position

object_description

uint32 object_id

Inserts object into object tree. Replaces similar object if exists.

Messages

Msg Name

Content

Description

|| srs_env_model/OctomapUpdates ||

  • header
  • uint8 - 0 if this is partial frame
  • sensor_msgs/CameraInfo - robot camera position used in frame
  • sensor_msgs/PointCloud2 - frame data

|| Partial frame message used in compressed pointcloud plugin. ||

Published topics

List of all published topics. All topics are published in the /but_env_model/ namespace.

Topic Name

Message

Description

visualization_marker

visualization_msgs/Marker

Visualization markers

collision_object

arm_navigation_msgs/CollisionObject

Octomap data - occupied nodes - as a collision objects

pointcloud_centers

sensor_msgs/PointCloud2

Octomap data - occupied nodes - as a point cloud

collision_map

arm_navigation_msgs/CollisionMap

Diameter limited octomap converted to the collision map

marker_array_object

visualization_msgs/MarkerArray

Octomap data as a marker array

map2d_object

nav_msgs/OccupancyGrid

Whole octomap converted to the 2D map

binary_octomap

octomap_ros/OctomapBinary

Binary octomap data - whole tree

visible_pointcloud_centers

sensor_msgs/PointCloud2

Octomap data - occupied nodes visible from the rviz camera - as a point cloud

Installation

All components are in srs git in srs_env_model package and can be compiled with ROS standard tool rosmake

 rosmake srs_env_model

Configuration

Octo map plugin

For further information about octomap library and meaning of its parameters see: http://octomap.sourceforge.net

Octomap and sensor parameters:

Parameter name

Description

Default value

resolution

Octomap resolution

0.1

sensor_model/hit

Probability value set to the occupied node.

0.7

sensor_model/miss

Probability value set to the free node

0.4

sensor_model/min

Clamping minimum threshold

0.12

sensor_model/max

Clamping maximum threshold

0.97

max_range

Maximal sensor scope

-1.0 - no range check

octomap_publishing_topic

Binary octomap publishing topic name

butsrv_binary_octomap

Outdated node filtering parameters:

Parameter name

Description

Default value

camera_info_topic

Camera info topic name

/cam3d/camera_info

visualize_markers

Should markers displayng camera cone be visualized?

true

markers_topic

Markers topic name

visualization_marker

camera_stereo_offset_left

Stereo camera left eye offset

128

camera_stereo_offset_right

Stereo camera right eye offset

0

Ground plane filtering parameters:

Parameter name

Description

Default value

filter_ground

Should ground plane be filtered?

false

ground_filter/distance

Distance of points from plane for RANSAC

0.04

ground_filter/angle

Angular derivation of ground plane

0.15

ground_filter/plane_distance

Distance of found plane from z=0 to be detected as ground (e.g. to exclude tables)

0.07

Collision map plugin

Parameter name

Description

Default value

collision_map_octree_depth

Used octree depth for map generation.

0 - whole tree

collision_map_radius

Collision map maximal radius in meters

2.0

collision_map_publisher

Collision map publishing topic name

butsrv_collision_map

collisionmap_frame_id

FID to which will be points transformed when publishing collision map

/base_footprint

Collision grid plugin

Parameter name

Description

Default value

collision_grid_octree_depth

Used octree depth for grid generation.

0 - whole tree

grid_min_x_size

Collision grid minimal x

0.0

grid_min_y_size

Collision grid minimal y

0.0

collision_grid_publisher

Collision grid publishing topic name

butsrv_collision_map

Collision objects plugin

Parameter name

Description

Default value

collision_object_publisher

Collision object publishing topic name

butsrv_collision_object

collision_object_frame_id

Output frame id

/map

collision_object_octree_depth

Used octree depth for objects generation.

0 - whole tree

2D map plugin

Parameter name

Description

Default value

collision_object_publisher

Collision map publishing topic name

butsrv_map2d_object

collision_object_frame_id

Output map frame id

/map

min_x_size

Minimal map size - used for padding

0.0

min_y_size

Minimal map size - used for padding

0.0

collision_object_octree_depth

Used octree depth for objects generation.

0 - whole tree

Marker array plugin

Parameter name

Description

Default value

marker_array_publisher

Marker array publishing topic name

butsrv_markerarray_object

marker_array_frame_id

Marker array output frame id

/map

marker_array_octree_depth

Used octree depth for objects generation.

0 - whole tree

Point cloud plugin

Parameter name

Description

Default value

pointcloud_centers_publisher

Pointcloud publishing topic name

butsrv_pointcloud_centers

pointcloud_subscriber

Input pointcloud subscriber topic name

/cam3d/depth/points

pointcloud_min_z

Point cloud minimal z value

-std::numeric_limits<double>::max()

pointcloud_max_z

Point cloud maximal z value

std::numeric_limits<double>::max()

pointcloud_octree_depth

Used octree depth for objects generation.

0 - whole tree

Dynamic Environment Model

...component specific parameters...

  • command

Wiki: srs_env_model (last edited 2013-04-08 13:33:11 by VitStancl)